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Theoretical and Experimental Investigation of Arm-Like Origami Structures

Alipour Hoseini Niaki, Masoud | 2024

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 57295 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Arghavani Hadi, Jamal
  7. Abstract:
  8. The thesis involves a comparative analysis of established volumetric origami patterns to serve as building blocks for arm-like structures; Among them, the "Kresling pattern" has been selected for this purpose. Leveraging the distinctive geometry and empirical evidence, the truss model is employed to elucidate the mechanical properties, folding behavior, and out-of-plane motion of the Kresling module and its resultant arm-like structure. In the truss model analysis, the Kresling module is represented by a truss system replacing its hinges to capture its mechanical characteristics. Furthermore, the equations governing the quasi-static motion of the Kresling module and the derived arm-like structure, are also obtained through the utilization of the minimum total potential energy principle. This thesis is structured into two main parts. The first part focuses on the geometric design of the constituent modulus of the arm-like structure and provides an explanation of the role of geometric parameters on the mechanical properties of the arm-like structure, including its stable state(s), folding motion, and off-axis deformation. This part includes the presentation of design maps and parametric studies conducted utilizing the truss model. Additionally, experimental studies have been utilized not only to outline the construction methods but also to evaluate the stability and load-bearing capacity of the structure. The second part introduces the various potential arrangements for the arm-like structure. Furthermore, it explores the influences of the end conditions of the constituent modules of the arm-like structure and the resulting mechanisms from the stacking of two Kresling modules with different end conditions. This part aims to generalize the findings from the first part to an arm-like structure comprising an arbitrary number of Kresling modules. Utilizing the truss model, an analytical framework for studying the folding motion of an arbitrary arm-like structure was established. The outcomes of this thesis, while elucidating the validity of truss modeling in analyzing the general behavior of the Kresling module and the arm-like structure derived from it, highlight the Kresling module's capability in presenting features such as symmetric and asymmetric bistability, the capacity to bear desirable loads, and the ability for out-of-plane motion. Possessing all the mentioned characteristics empowers the Kresling module to be suitable for use in all types of arm-like structures. Moreover, it has been demonstrated that by arranging Kresling modules with different end conditions, diverse mechanisms can be achieved, enabling their utilization in a wide range of applications such as torque transmission systems, energy absorption, and robot arms. Finally, this thesis concludes with an explanation of a procedure that can be employed in future research for the design and analysis of arm-like structures constructed from other origami patterns
  9. Keywords:
  10. Stability ; Parametric Study ; Truss Modeling ; Design Maps ; Origami ; Arm-Like Structures ; Kresling Pattern ; Folding Motion ; Off-Axis Deformation

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